Dynamic walking type leg-wheeled robot (firth report) - investigation of robust passing over stairs using force sensors on computer simulation -

摘要

We are developing a biped leg-wheeled robot which has ability to pass over stairs with short treads. In this paper, in order to realize robust control against errors of joint angles and unknown weight, we investigate the usage of force sensor mounted on the lower part of each leg. Using computer simulation, we confirm the effectiveness of force sensor.